Sensing system, sensing data acquisition method, and control device

ABSTRACT

The sensing system S extracts a target area to be subjected to short-distance sensing by the UGV 2 on the basis of the long-distance sensing data obtained by the UAV 1 in the air performing long-distance sensing on a lower place, perform movement control for moving the UGV 2 toward the target area. And then, the sensing system acquires short-distance sensing data obtained by performing short-distance sensing on the whole or a part of the target area by the UGV 2 that has moved according to the movement control.

TECHNICAL FIELD

The present invention relates to a technical field such as a system thatacquires sensing data obtained by a flying object sensing the groundfrom the sky.

BACKGROUND ART

In recent years, sensing such as capturing from the sky using a flyingobject is becoming common. For example, Patent Literature 1 describesthat the entire farm field is photographed from a video camera mountedon an industrial unmanned helicopter to acquire data indicating imagesand reflectance of natural light.

Citation List Patent Literature

Patent Literature 1: JP 2011-254711 A

SUMMARY OF INVENTION Technical Problem

By using a flying object as described above, a relatively wide range canbe sensed comprehensively. However, in the case of finely sensing arelatively narrow range, it is difficult to say that sensing using aflying object is suitable. For example, when a flying object flies at alow altitude in order to perform sensing from a position as close to theground as possible, ground effect may occur, causing the flying objectto become unstable. Moreover, it is also possible to perform sensing ina state where the flying object has landed, but in this case, it is notpreferable from the viewpoint of energy consumption in addition to theviewpoint of stability of the flying object. Moreover, in a case wherethe flying object performs sensing from the sky using a highmagnification sensor, even a slight vibration during flight in the airhas an influence according to the magnification, and thus fine sensingis difficult.

Therefore, one or more embodiments of the present invention are directedto providing a sensing system, a sensing data acquisition method, and acontrol device capable of acquiring suitable sensing data inconsideration of advantages of both comprehensive sensing and finesensing.

Solution to Problem

In response to the above issue, the invention according to claim 1 is asensing system. The sensing system includes: a first acquisition unitconfigured to acquire first sensing data obtained by a flying object inthe air sensing a lower place; an extraction unit configured to extracta target area sensed by a traveling object capable of traveling on theground on the basis of the first sensing data; a control unit configuredto perform movement control for moving the traveling object toward thetarget area; and a second acquisition unit configured to acquire secondsensing data obtained by sensing a whole or a part of the target area bythe traveling object that has moved according to the movement control.This makes it possible to acquire suitable sensing data in considerationof advantages of both comprehensive sensing and fine sensing in order toquickly find and investigate a target area.

The invention according to claim 2 is the information processing deviceaccording to claim 1 further including a display control unit configuredto cause a display terminal to display information regarding the targetarea on the basis of the second sensing data. This makes it possible fora manager to visually grasp information regarding the extracted targetarea.

The invention according to claim 3 is the sensing system according toclaim 1 or 2, wherein the extraction unit extracts, as the target area,an area having a high probability that an abnormality has occurred inthe lower place, on the basis of the first sensing data. This makes itpossible to acquire suitable sensing data in consideration of advantagesof both comprehensive sensing and fine sensing in order to quickly findand investigate an area having a high probability that an abnormalityhas occurred.

The invention according to claim 4 is the sensing system according toany one of claims 1 to 3, wherein the first sensing data includes avegetation activity image, and the extraction unit extracts the targetarea on the basis of an activity in the vegetation activity image. Thismakes it possible to acquire suitable sensing data in consideration ofadvantages of both comprehensive sensing and fine sensing in order toquickly find and investigate an area having a high probability that anabnormality has occurred in a plant.

The invention according to claim 5 is the sensing system according toany one of claims 1 to 4, wherein the second sensing data includes datarelated to at least one of moisture content, temperature, salinityconcentration, electrical conductivity, and acidity in the ground of thetarget area. This makes it possible to more finely observe a state of aplant or soil.

The invention according to claim 6 is the sensing system according toany one of claims 1 to 5, wherein the second sensing data is acquiredusing a sensor inserted in the ground of the target area. This makes itpossible to more finely observe a state of a plant or soil.

The invention according to claim 7 is the sensing system according toany one of claims 1 to 6 further including a determination unitconfigured to determine whether or not an abnormality has occurred inthe target area on the basis of the second sensing data. This makes itpossible to quickly and accurately determine whether an abnormality hasoccurred in the target area using sensing data in consideration ofadvantages of both comprehensive sensing and fine sensing.

The invention according to claim 8 is the sensing system according toclaim 3 or 7, wherein the abnormality is an abnormality of any one of aplant, soil, and a road.

The invention according to claim 9 is the sensing system according toclaim 8 further including a transmission unit configured to transmit thesecond sensing data to a terminal owned by a manager of any one of theplant, the soil, and the road. This makes it possible for the manager toconfirm the second sensing data and to investigate in more detailwhether an abnormality has occurred in a plant, soil, or a road.

The invention according to claim 10 is the sensing system according toany one of claims 1 to 9, wherein the control unit causes the travelingobject to continuously perform sensing of the target area a plurality oftimes while moving the traveling object so that data on the entiretarget area is included in the second sensing data. Thus, even when theentire target area does not fall within an angle of view of a camera,for example, it is possible to obtain the second sensing data on theentire target area.

The invention according to claim 11 is the sensing system according toany one of claims 1 to 10 further including a third acquisition unitconfigured to acquire third sensing data obtained by sensing the groundby the traveling object before the traveling object is moved toward thetarget area, wherein the control unit performs movement control formoving the traveling object toward the target area on the basis of thefirst sensing data and the third sensing data. This makes it possible toaccurately guide the traveling object to the target area.

The invention according to claim 12 is the sensing system according toclaim 11, wherein the control unit performs movement control for movingthe traveling object toward the target area detected from the thirdsensing data by matching the first sensing data with the third sensingdata. This makes it possible to more accurately guide the travelingobject to the target area.

The invention according to claim 13 is the sensing system according toany one of claims 1 to 12, wherein when the target area is extracted bythe extraction unit, the control unit moves the traveling object into arange of the sensing performed by the flying object in a hovering state,and thereafter, performs movement control for moving the travelingobject toward the target area on the basis of the first sensing data.This makes it possible to accurately guide the traveling object to thetarget area.

The invention according to claim 14 is the sensing system according toclaim 13, wherein the flying object performs the sensing while movingalong a predetermined flight route, and when the target area isextracted by the extraction unit, the control unit causes the flyingobject to interrupt the movement along the route and then shift to thehovering state. This makes it possible to accurately guide the travelingobject to the target area.

The invention according to claim 15 is the sensing system according toany one of claims 1 to 13, wherein a distance between the target areaand the flying object is longer than a distance between the target areaand the traveling object.

The invention according to claim 16 is the sensing system according toany one of claims 1 to 15, wherein a range of the sensing performed bythe flying object is larger than a range of the sensing performed by thetraveling object.

The invention according to claim 17 is a sensing data acquisition methodcomprising: a step of acquiring first sensing data obtained by a flyingobject in the air sensing a lower place; a step of extracting a targetarea sensed by a traveling object capable of traveling on the ground onthe basis of the first sensing data; a step of performing movementcontrol for moving the traveling object toward the target area; and astep of acquiring second sensing data obtained by sensing a whole or apart of the target area by the traveling object that has moved accordingto the movement control.

The invention according to claim 18 is a control device including: afirst acquisition unit configured to acquire first sensing data obtainedby a flying object in the air sensing a lower place; an extraction unitconfigured to extract a target area sensed by a traveling object capableof traveling on the ground on the basis of the first sensing data; acontrol unit configured to perform movement control for moving thetraveling object toward the target area; and a second acquisition unitconfigured to acquire second sensing data obtained by sensing a whole ora part of the target area by the traveling object that has movedaccording to the movement control.

Advantageous Effect of the Invention

According to one or more embodiments of the present invention, it ispossible to acquire suitable sensing data in consideration of advantagesof both comprehensive sensing and fine sensing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating a schematic configuration example of asensing system S

FIG. 2 is a diagram illustrating a schematic configuration example of anUAV 1

FIG. 3 is a diagram illustrating an example of functional blocks in acontrol unit 15.

FIG. 4 is a diagram illustrating a schematic configuration example of anUGV 2.

FIG. 5 is a diagram illustrating an example of functional blocks in acontrol unit 25.

FIG. 6 is a diagram illustrating a relationship between a range of along-distance sensing performed by the UAV 1 and a range of ashort-distance sensing performed by the UGV 2.

FIG. 7 is a diagram illustrating a schematic configuration example ofthe management server 3.

FIG. 8 is a diagram illustrating an example of functional blocks in acontrol unit 33.

FIG. 9 is a sequence diagram illustrating an example of processingexecuted among the UAV 1, the UGV 2, and the management server 3 inExample 1.

FIG. 10 is a sequence diagram illustrating an example of processingexecuted among the UAV 1, the UGV 2, and the management server 3 inExample 2.

FIG. 11 is a sequence diagram illustrating an example of processingexecuted among the UAV 1, the UGV 2, and the management server 3 inExample 3.

FIG. 12 is a sequence diagram illustrating an example of processingexecuted among the UAV 1, the UGV 2, and the management server 3 inExample 4.

FIG. 13 is a sequence diagram illustrating an example of processingexecuted among the UAV 1, the UGV 2, and the management server 3 inExample 5.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of the present invention will be describedwith reference to the drawings.

1. Configuration of Sensing System S

First, an outline of a configuration of a sensing system S according toan embodiment of the present invention will be described with referenceto FIG. 1 . FIG. 1 is a diagram illustrating a schematic configurationexample of a sensing system S. As illustrated in FIG. 1 , the sensingsystem S includes an unmanned aerial vehicle (hereinafter referred to asan UAV (Unmanned Aerial Vehicle) 1, an unmanned ground vehicle(hereinafter referred to as an UGV (Unmanned Ground Vehicle) 2, and amanagement server 3. The UAV 1 and the UGV 2 can individuallycommunicate with the management server 3 via a communication network NW.The communication network NW includes, for example, the Internet, amobile communication network, a radio base station thereof, and thelike.

Incidentally, the UAV 1 is an example of a flying object, and is alsocalled a drone or a multicopter. The UAV 1 can fly under remote controlby an operator from the ground, or fly autonomously. Moreover, the UAV 1is managed by a GCS (Ground Control Station). For example, the GCS maybe mounted on a pilot terminal operated by an operator as anapplication, or may be configured by a server such as the managementserver 3.

On the other hand, the UGV 2 is an example of a traveling object thatcan autonomously travel on the ground in an unmanned manner. Here,traveling means moving on the ground (which may include on a plant or anobstacle), and is distinguished from flight. Moreover, moving means thatthe current position changes in time series. The UGV 2 may be a vehiclehaving a plurality of wheels, a robot (for example, a biped walkingrobot) having no wheels, or the like.

1-1. Configuration and Function of UAV 1

Next, the configuration and function of the UAV 1 will be described withreference to FIGS. 2 and 3 . FIG. 2 is a diagram illustrating aschematic configuration example of the UAV 1. As illustrated in FIG. 2 ,the UAV 1 includes a drive unit 11, a radio communication unit 12, asensor unit 13, a positioning unit 14, a control unit 15, and the like.FIG. 3 is a diagram illustrating an example of functional blocks in thecontrol unit 15. Incidentally, although not illustrated, the UAV 1includes a rotor (propeller) that is a horizontal rotary wing, and abattery that supplies electric power to each unit of the UAV 1.

The drive unit 11 includes a motor, a rotating shaft, and the like. Thedrive unit 11 rotates a plurality of rotors by a motor, a rotatingshaft, and the like that are driven according to a control signal outputfrom the control unit 15. The radio communication unit 12 controlscommunication with the management server 3 via the communication networkNW. Moreover, The radio communication unit 12 may have a short-distanceradio communication function such as Bluetooth (registered trademark).

The sensor unit 13 includes various sensors necessary for flight controlof the UAV 1. Examples of the various sensors include an optical sensor,a triaxial angular velocity sensor, a triaxial acceleration sensor, ageomagnetic sensor, and the like. Detection data detected by the sensorunit 13 is output to the control unit 15. The optical sensor includes,for example, a camera (an RGB camera or an infrared camera), and is alsoused to perform comprehensive sensing (hereinafter, referred to as“long-distance sensing (an example of first sensing)”) from the air to alower place.

Here, the long-distance sensing includes observing a state of the groundsurface (for example, a state of a plant or soil) by capturing an imageof the ground surface within a sensable range (for example, a rangefalling within the angle of view of the camera) below the UAV 1 in theair. Incidentally, the optical sensor may include LiDAR (Light Detectionand Ranging, or Laser Imaging Detection and Ranging) in order to createa map image to be described later.

An area to be subjected to long-distance sensing (hereinafter, referredto as a “sensing area”) is a wide area which needs to be sensed from thesky. In particular, an area where care (in other words, maintenance andmanagement) for a plant growing from the ground is important may be setas the sensing area. Examples of the sensing area include a golf courseand a ball game ground where lawn is grown, a farm field where crops andthe like are grown, and the like.

The long-distance sensing is performed once or more, for example, whenthe UAV 1 arrives at the sensing area or while flying on a flight routeinside and outside the sensing area. In order to improve the accuracy ofthe long-distance sensing, the long-distance sensing may be continuouslyperformed in time series, and a time interval of the long-distancesensing may be a regular interval or an irregular interval.

The positioning unit 14 includes a radio wave receiver, an altitudesensor, and the like. For example, the positioning unit 14 receives aradio wave transmitted from satellites of a GNSS (Global NavigationSatellite System) by the radio waver receiver, and detects a currentposition (latitude and longitude) of the UAV 1 in the horizontaldirection on the basis of the radio wave. The current position of theUAV 1 is a flight position of the UAV 1 in flight.

Incidentally, the current position of the UAV 1 in the horizontaldirection may be corrected based on an image captured by an opticalsensor or a radio wave transmitted from the radio base station. Positioninformation indicating the current position detected by the positioningunit 14 is output to the control unit 15. Furthermore, the positioningunit 14 may detect the current position (altitude) of the UAV 1 in thevertical direction by an altitude sensor such as an atmospheric pressuresensor. In this case, the position information includes altitudeinformation indicating the altitude of the UAV 1.

The control unit 15 includes at least one CPU (Central Processing Unit),which is a processor, a ROM (Read Only Memory), a RAM (Random AccessMemory), a non-volatile memory, and the like. The control unit 15functions as a sensing control unit 15 a, a sensing data acquisitionunit 15 b (an example of a first acquisition unit), and a flight controlunit 15 c, as illustrated in FIG. 3 , according to a program (programcode group) stored in, for example, the ROM or the non-volatile memory.Incidentally, the control unit 15 causes the radio communication unit 12to sequentially transmit the position information and flying object IDof the UAV 1 to the management server 3 (or the management server 3 viathe GCS) while the UAV 1 is in flight. The flying object ID isidentification information that enables the UAV 1 to be identified.

The sensing control unit 15 a controls timing of long-distance sensingperformed by the sensor unit 13. The timing of long-distance sensing maybe defined in advance in the program, or may be indicated by a sensingcontrol command from the GCS or the management server 3.

The sensing data acquisition unit 15 b acquires long-distance sensingdata (an example of first sensing data) obtained by the long-distancesensing. The long-distance sensing data is transmitted to the managementserver 3 by the radio communication unit 12, and is used to extract atarget area to be sensed by the UGV 2. An example of the target areaincludes an area having a high probability that an abnormality hasoccurred in a plant or soil below the UAV 1.

Here, “below the UAV 1” means “in an area below the UAV 1 at the time oflong-distance sensing”. This is because even though the target area isbelow the UAV 1 at the time of long-distance sensing by the UAV 1, theUAV 1 may be moving at the time when the target area is extracted. Thelong-distance sensing data may be raw detection data output from thesensor unit 13 or may be data analyzed and processed based on the outputraw detection data.

Moreover, the long-distance sensing data is, for example, dataconstituting at least one map image among an RGB image, a vegetationactivity image, a thermal image (temperature distribution image), andthe like of the ground surface. Here, the vegetation activity image isan image in which the presence or absence and the number of plants suchas lawn and crops are color-coded. The activity (vegetation activity)may be represented by a NDVI (Normalized Difference Vegetation Index).

NDVI is a value (index) indicating a relationship between the healthstate of a plant and the reflectance at wavelengths in visible tonear-infrared ranges. For example, plants have a characteristic ofabsorbing radio waves in the visible range and strongly reflecting radiowaves in the near infrared range, and thus a higher NDVI means ahealthier state. Position information is associated with each pixelvalue (equivalent to, for example, an RGB value, an activity, or atemperature, which are measured values) in the map image. Such positioninformation (that is, position information in the long-distance sensingdata) is identified by, for example, position information indicating thecurrent position of the UAV 1 in the horizontal direction and a SLAM(Simultaneous Localization And Mapping) process (a process ofsimultaneously performing map generation and self-position estimation).

The flight control unit 15 c performs flight control for flying the UAV1 inside and outside the sensing area. In such flight control, thenumber of rotations of the rotor and the position, attitude, andtraveling direction of the UAV 1 are controlled using detection datafrom the sensor unit 13, position information from the positioning unit14, flight control information from the management server 3, and thelike. Here, the flight control information includes, for example, aflight command along a flight route. The flight route is determined inadvance by the management server 3, for example. The flight controlinformation enables the UAV 1 to perform long-distance sensing whileflying on the flight route.

Incidentally, flying the UAV 1 includes hovering the UAV 1. Here,hovering is not limited to completely staying still of the UAV 1 in theair, and some movement (that is, moving in a horizontal direction, avertical direction, or an oblique direction) of the UAV 1 may occur(that is, the UAV 1 may be floating in the air without landing.).

The flight control unit 15 c can remotely control or autonomously flythe UAV 1 inside and outside the sensing area. Incidentally,autonomously flying the UAV 1 is not limited to the autonomous flightcontrolled by the flight control unit 15 c, and also includes, forexample, autonomous flight controlled by the entire sensing system S.

1-2. Configuration and Function of UGV 2

Next, the configuration and function of the UGV 2 will be described withreference to FIGS. 4 to 6 . FIG. 4 is a diagram illustrating a schematicconfiguration example of the UGV 2. As illustrated in FIG. 4 , the UGV 2includes a drive unit 21, a radio communication unit 22, a sensor unit23, a positioning unit 24, a control unit 25, and the like. FIG. 5 is adiagram illustrating an example of functional blocks in the control unit25. Incidentally, although not illustrated, the UGV 2 includes a batterythat supplies power to each unit of the UGV 2. The drive unit 21includes a motor, a rotating shaft, and the like. The drive unit 21rotates a plurality of wheels by a motor, a rotating shaft, and the likethat are driven according to a control signal output from the controlunit 25. The radio communication unit 22 controls communication with themanagement server 3 via the communication network NW. Moreover, theradio communication unit 22 may have a short-distance radiocommunication function such as Bluetooth (registered trademark).

The sensor unit 23 includes various sensors necessary for movementcontrol of the UGV 2. Examples of the various sensors include an opticalsensor. Detection data detected by the sensor unit 23 is output to thecontrol unit 25. The optical sensor includes, for example, a camera, andis also used to finely sense (hereinafter, referred to as“short-distance sensing (an example of second sensing)”) a whole or apart of the target area extracted based on the long-distance sensingdata.

Here, the short-distance sensing includes observing a state of theground surface (for example, a state of a plant or soil) by capturing animage of the ground surface in a target area within a sensable range.Incidentally, the optical sensor may include LiDAR in order to create amap image. FIG. 6 is a diagram illustrating a relationship between arange of the long-distance sensing performed by the UAV 1 (that is, asensable range) and a range of the short-distance sensing performed bythe UGV 2. As illustrated in FIG. 6 , a range R1 of the long-distancesensing performed in a sensing area (for example, a golf course) A1 iswider than a range R2 of the short-distance sensing performed in atarget area A2.

Moreover, in the example of FIG. 6 , the range R2 of the short-distancesensing is wider than the target area A2 (that is, the target area A2 isincluded in the range R2 of the short-distance sensing), but the rangeR2 of the short-distance sensing may be narrower than the target area A2(for example, the entire target area A2 does not fall within the angleof view of the camera.). In this case, the entire target area A2 may besensed by continuously performing short-distance sensing on the targetarea A2 a plurality of times. Incidentally, for example, at the time ofshort-distance sensing, the distance between the target area A1 and theUAV 1 is larger (longer) than the distance between the target area A2and the UGV 2.

Moreover, the sensor unit 23 may include a soil sensor. In this case,the short-distance sensing includes measuring at least one of moisturecontent (water content), temperature, salinity concentration, electricalconductivity, and acidity in the ground of the target area. Suchshort-distance sensing allows the state of a plant or soil to be finelyobserved. Moreover, the UGV 2 includes an arm (for example, a hydraulicarm) for inserting the soil sensor into the ground of the target area.This arm is driven by the drive unit 21.

The short-distance sensing is performed once or more, for example, whenthe UGV 2 arrives near or in the target area. In order to improve theaccuracy of the short-distance sensing, the short-distance sensing maybe continuously performed in time series, and a time interval of theshort-distance sensing may be a regular interval or an irregularinterval.

Incidentally, before the UGV 2 moves toward the target area, sensing theground may be performed by the optical sensor. Such sensing is referredto as “ground sensing (an example of third sensing)”.

The positioning unit 24 includes a radio wave receiver and the like. Forexample, the positioning unit 24 receives a radio wave transmitted fromsatellites of GNSS by the radio wave receiver, and detects the currentposition (latitude and longitude) of the UGV 2 on the basis of the radiowave. Incidentally, the current position of the UGV 2 may be identifiedby the SLAM process in addition to the radio wave transmitted from theGNSS satellite. Moreover, the current position of the UGV 2 may becorrected based on the image captured by the optical sensor. Positioninformation indicating the current position detected by the positioningunit 24 is output to the control unit 25.

The control unit 25 includes a CPU, a ROM, a RAM, a non-volatile memory,and the like. The control unit 25 functions as a sensing control unit 25a, a sensing data acquisition unit 25 b (an example of a secondacquisition unit and a third acquisition unit), and a movement controlunit 25 c, as illustrated in FIG. 5 , according to a program (programcode group) stored in, for example, the ROM or the non-volatile memory.Incidentally, the control unit 25 causes the radio communication unit 22to sequentially transmit the position information and traveling objectID of the UGV 2 to the management server 3. The traveling object ID isidentification information that enables the UGV 2 to be identified.

The sensing control unit 25 a controls each timing of the short-distancesensing and the ground sensing performed by the sensor unit 23. Thetimings of the short-distance sensing and the ground sensing may bedefined in advance in the program or may be indicated by a sensingcontrol command from the management server 3.

The sensing data acquisition unit 25 b acquires short-distance sensingdata (an example of second sensing data) obtained by the short-distancesensing. The short-distance sensing data is transmitted to themanagement server 3 by the radio communication unit 22, and is used, forexample, to determine whether or not an abnormality has occurred in thetarget area extracted based on the long-distance sensing data. Theshort-distance sensing data may be raw detection data output from thesensor unit 23 or may be data analyzed and processed based on the outputraw detection data.

Moreover, the short-distance sensing data may be data constituting atleast one map image among an RGB image, a vegetation activity image, athermal image, and the like of the ground surface in the target area.Position information is associated with each pixel value (equivalent to,for example, an RGB value, an activity, or a temperature) in the mapimage Such position information (that is, position information in theshort-distance sensing data) is identified by, for example, positioninformation indicating the current position of the UGV 2 and the SLAMprocess.

Moreover, in the case where the sensor unit 23 includes a soil sensor(that is, in a case where the short-distance sensing data is acquiredusing the soil sensor inserted in the ground), the short-distancesensing data includes data related to at least one of moisture content,temperature, salinity concentration, electrical conductivity, andacidity in the ground of the target area. Such data may be associatedwith the position information described above. Incidentally, the sensingdata acquisition unit 25 b may acquire the ground sensing data (anexample of third sensing data) obtained by the ground sensing. Theground sensing data is transmitted to the management server 3 by theradio communication unit 22.

The movement control unit 25 c performs movement control for moving theUGV 2 toward the target area. In such movement control, the number ofrotations of the wheel and the position and traveling direction of theUGV 2 are controlled using detection data from the sensor unit 23,position information from the positioning unit 24, movement controlinformation from the management server 3, and the like. Here, themovement control information includes, for example, a movement commandfor moving the UGV 2 toward the target area. The movement control unit25 c can move the UGV 2 toward the target area. Then, the UGV 2 that hasmoved according to the movement control can sense a whole or a part ofthe target area by the sensor unit 23.

1-3. Configuration and Function of Management Server 3

Next, the configuration and function of the management server 3 will bedescribed with reference to FIGS. 7 and 8 . FIG. 7 is a diagramillustrating a schematic configuration example of the management server3. As illustrated in FIG. 7 , the management server 3 includes acommunication unit 31, a storage unit 32, a control unit 33, and thelike. FIG. 8 is a diagram illustrating an example of functional blocksin the control unit 33. The communication unit 31 controls communicationwith each of the UAV 1 and the UGV 2 via the communication network NW.The long-distance sensing data and the position information and flyingobject ID of the UAV 1 transmitted from the UAV 1 are received by thecommunication unit 31. The management server 3 can recognize the currentposition of the UAV 1 from the position information of the UAV 1.

Moreover, the short-distance sensing data, the ground sensing data, andthe position information and flying object ID of the UGV 2 transmittedfrom the UGV 2 are received by the communication unit 31. The managementserver 3 can recognize the current position of the UGV 2 from theposition information of the UGV 2. The storage unit 32 includes, forexample, a hard disk drive and the like. The storage unit 32 is providedwith a sensing database (DB) 32 a.

The sensing database 32 a stores position information of a sensing area,long-distance sensing data obtained by long-distance sensing in thesensing area, the flying object ID of the UAV 1 that has performed thelong-distance sensing, position information of a target area extractedfrom the sensing area, short-distance sensing data obtained byshort-distance sensing in the target area, the traveling object ID ofthe UGV 2 that has performed the short-distance sensing, and the like inassociation with each target area. Here, the position information of thesensing area may indicate the latitude and longitude of the outer edgeof the sensing area. Similarly, the position information of the targetarea may indicate the latitude and longitude of the outer edge of thetarget area. Incidentally, in association with the position informationof the sensing area, authentication information (ID and password) and ane-mail address of a manager or the like involved in the sensing area maybe stored in the storage unit 32.

The control unit 33 includes a CPU, which is a processor, a ROM, a RAM,a non-volatile memory, and the like. The control unit 33 functions as asensing data acquisition unit 33 a (an example of a first acquisitionunit, a second acquisition unit, and a third acquisition unit), a targetarea extraction unit 33 b (an example of an extraction unit), a vehiclebody control unit 33 c, an abnormality determination unit 33 d (anexample of a determination unit), an information providing unit 33 e (anexample of a display control unit and a transmission unit), and the likeas illustrated in FIG. 8 , according to a program (program code group)stored in, for example, the ROM or the non-volatile memory.

The sensing data acquisition unit 33 a acquires the long-distancesensing data transmitted from the UAV 1 via the communication unit 31.Moreover, the sensing data acquisition unit 33 a acquires theshort-distance sensing data transmitted from the UGV 2 via thecommunication unit 31. Moreover, the sensing data acquisition unit 33 aacquires the ground sensing data transmitted from the UGV 2 via thecommunication unit 31.

The target area extraction unit 33 b extracts a target area sensed bythe UGV 2 on the basis of the long-distance sensing data acquired by thesensing data acquisition unit 33 a. For example, the target areaextraction unit 33 b extracts, as the target area, an area having a highprobability that an abnormality has occurred in an area below the UAV 1(abnormality candidate area) on the basis of the long-distance sensingdata. Such target area may be extracted based on the activity in thevegetation activity image included in the long-distance sensing data. Asa result, it is possible to quickly find an area having a highprobability that an abnormality has occurred in a plant. For example, anarea having an activity equal to or lower than a threshold value in thevegetation activity image is extracted as the target area.

Alternatively, the target area may be extracted based on the RGB valuesof the RGB image included in the long-distance sensing data. Forexample, in the RGB image, an area having a difference from apredetermined appropriate color (RGB value) of a plant that is equal toor larger than a threshold value is extracted as the target area.Alternatively, the target area may be extracted based on the temperaturein the thermal image included in the long-distance sensing data. Forexample, an area having a difference from a predetermined appropriatetemperature equal to or larger than a threshold value in the thermalimage is extracted as the target area. Incidentally, the target area maybe extracted based on any two or more measurement values of the activityin the vegetation activity image, the RGB value in the RGB image, andthe temperature in the thermal image.

The vehicle body control unit 33 c can perform flight control for flyingthe UAV 1 inside and outside the sensing area. For example, the vehiclebody control unit 33 c controls flight of the UAV 1 by causing thecommunication unit 31 to transmit flight control information to the UAV1. Moreover, the vehicle body control unit 33 c can perform movementcontrol for moving the UGV 2 toward the target area extracted by thetarget area extraction unit 33 b. For example, the vehicle body controlunit 33 c controls movement of the UGV 2 by causing the communicationunit 31 to transmit movement control information to the UGV 2.

The movement control of the UGV 2 may be performed based on the positioninformation of the UAV 1 and the long-distance sensing data (forexample, RGB image) from the UAV 1. For example, before moving the UGV 2toward the target area extracted by the target area extraction unit 33b, the vehicle body control unit 33 c moves the UGV 2 into the range ofthe long-distance sensing performed by the UAV 1 (for example, thephotographing range of the camera of the UAV 1) on the basis of theposition information of the UAV 1. That is, the vehicle body controlunit 33 c moves the UGV 2 to a position close to the UAV 1 to someextent. At this time, the sensing data acquisition unit 33 a acquireslong-distance sensing data obtained by the UAV 1 performinglong-distance sensing and ground sensing data obtained by the UGV 2performing ground sensing.

The vehicle body control unit 33 c performs movement control for movingthe UGV 2 toward the target area on the basis of the long-distancesensing data and the ground sensing data acquired at this time. Forexample, the vehicle body control unit 33 c performs movement controlfor moving the UGV 2 toward the target area detected from the groundsensing data by matching the long-distance sensing data with the groundsensing data. As a result, it possible to more accurately guide the UGV2 to the target area.

Incidentally, matching between the long-distance sensing data and theground sensing data is performed, for example, by extracting featurepoints (for example, a feature point having the largest matching degree)corresponding to several feature points in the map image (for example,an RGB image) included in the long-distance sensing data from the mapimage included in the ground sensing data. Incidentally, the UAV 1performs long-distance sensing (for example, captures an image) bydirecting the camera toward the target area from the side where the UGV2 will view with the camera, thereby allowing easier matching.

Moreover, when the target area is extracted by the target areaextraction unit 33 b, the vehicle body control unit 33 c may performcontrol to cause the UAV 1 to interrupt its movement (for example,movement along the flight route) and then to shift to a hovering state.For example, the target area extraction unit 33 b causes the UAV 1 tohover over the target area. Then, the vehicle body control unit 33 cmoves the UGV 2 into the range (for example, the photographing range ofthe camera of the UAV 1) of the long-distance sensing performed by theUAV 1 in the hovering state. Incidentally, the UGV 2 may be moved to thevicinity directly below the UAV 1.

Thereafter, the vehicle body control unit 33 c performs movement controlfor moving the UGV 2 toward the target area on the basis of thelong-distance sensing data. For example, the vehicle body control unit33 c continues to acquire a positional relationship between the UGV 2and the target area from the long-distance sensing data (for example, anRGB image) continuously received a plurality of times from the UAV 1,and moves the UGV 2 toward the target area. As a result, it possible tomore accurately guide the UGV 2 to the target area.

Moreover, in a case where the UGV 2 performs short-distance sensing withthe camera, when the entire target area does not fall within the angleof view of the camera, the vehicle body control unit 33 c may performcontrol to cause the UGV 2 to continuously perform short-distancesensing of the target area a plurality of times while moving the UGV 2so that data on the entire target area (for example, a map imageincluding the entire target area) is included in the short-distancesensing data. As a result, even when the entire target area does notfall within the angle of view of the camera, it is possible to obtainthe short-distance sensing data (for example, a plurality of stillimages or moving images) on the entire target area.

Incidentally, whether or not the entire target area falls within theangle of view of the camera may be determined by the control unit 33 orby the UGV 2. In the case of making such determination by the controlunit 33, the vehicle body control unit 33 c determines a travel route sothat data on the entire target area is included in the short-distancesensing data, and then causes the communication unit 31 to transmitmovement control information including a movement command along thedetermined travel route and an execution command of short-distancesensing to the UGV 2. On the other hand, in the case of making suchdetermination by the UGV 2, the UGV 2 may continuously perform sensingof the target area a plurality of times while autonomously moving sothat data on the entire target area is included in the short-distancesensing data without receiving the above commands from the vehicle bodycontrol unit 33 c.

The abnormality determination unit 33 d determines whether or not anabnormality has occurred in the target area extracted by the target areaextraction unit 33 b on the basis of the short-distance sensing dataacquired by the sensing data acquisition unit 33 a. That is, whether ornot an abnormality has occurred in the target area extracted by thetarget area extraction unit 33 b is definitely judged. For example, moreaccurate abnormality determination may be performed based on theshort-distance sensing data to determine whether or not an abnormalityhas occurred in the target area.

For more accurate abnormality determination, for example, machinelearning may be used. In this case, a trained model learned fromtraining data in which the short-distance sensing data is input and thepresence or absence of abnormality occurrence is output is used. Theabnormality determination unit 33 d inputs short-distance sensing dataobtained by short-distance sensing by the UGV 2 to the trained model,thereby obtaining, as an output, whether or not an abnormality hasoccurred in the target area subjected to short-distance sensing. As aresult, the abnormality determination unit 33 d can determine whether ornot an abnormality has occurred in the target area. Incidentally,whether an abnormality has occurred in the target area may be determinedby an analysis algorithm other than machine learning.

The information providing unit 33 e transmits the short-distance sensingdata acquired by the sensing data acquisition unit 33 a to a managerterminal of a manager of either a plant or soil via the communicationunit 31 after the manager logs in with his/her authenticationinformation through the manager terminal. As a result, the manager canconfirm the short-distance sensing data and investigate in more detailwhether a disease occurs in a plant (for example, lawn, crops, or thelike). According to the investigation result, the manager may give aninstruction of appropriate treatment, for example, spraying of achemical agent, spraying of a fertilizer, spraying of water, spraying ofsand, lawn mowing or the like. Here, in a case where the sensing area isa golf course, the manager is, for example, a lawn manager.Alternatively, in a case where the sensing area is a farm field, themanager is, for example, a manager (producer) of crops or the like.Incidentally, as described above, the short-distance sensing dataincluding a plurality of still images or moving images obtained by theUGV 2 continuously performing short-distance sensing on the target areaa plurality of times is transmitted to the manager terminal.

Moreover, the information providing unit 33 e may transmit to a displayterminal the information regarding the target area extracted by thetarget area extraction unit 33 b on the basis of the short-distancesensing data acquired by the sensing data acquisition unit 33 a todisplay the information. As a result, it is possible for a manager tovisually grasp information regarding the extracted target area.Incidentally, the display terminal may be a manager terminal or aterminal used by a user or a worker of the sensing area. Moreover, theinformation regarding the target area may be, for example, a map image(for example, an RGB image, a vegetation activity image, or a thermalimage) in the target area. A name, position information, and the like ofthe map area (for example, the name of the golf course) or the targetarea may be superimposed and displayed on the map image.

2. Operation of Sensing System S

Next, the operation of the sensing system S will be described separatelyin Examples 1 to 5. Incidentally, in the operation of the sensing systemS, the management server 3 manages the flying object ID of the UAV 1used for long-distance sensing in association with the traveling objectID of the UGV 2 used for short-distance sensing. Then, the UAV 1sequentially transmits its own position information and the flyingobject ID to the management server 3 during flight, and the UGV 2sequentially transmits its own position information and the travelingobject ID to the management server 3 during traveling.

Example 1

First, the operation of the sensing system S according to Example 1 willbe described with reference to FIG. 9 . FIG. 9 is a sequence diagramillustrating an example of processing executed among the UAV 1, the UGV2, and the management server 3 in Example 1. In FIG. 9 , the managementserver 3 transmits flight control information including a flight commandalong a flight route to the sensing area to the UAV 1 via thecommunication network NW (step S1).

Next, upon acquiring (receiving) the flight control information from themanagement server 3, the UAV 1 starts flying along the flight route tothe sensing area (step S2). Next, when arriving over the sensing area(step S3), the UAV 1 activates the sensor unit 13 to start long-distancesensing, and acquires long-distance sensing data obtained by performinglong-distance sensing the lower place of the UAV 1 (step S4).Incidentally, the long-distance sensing may be performed while the UAV 1moves or while hovering. Next, the UAV 1 transmits the long-distancesensing data acquired in step S4 and the flying object ID of the UAV 1to the management server 3 via the communication network NW (step S5).

Next, upon acquiring the long-distance sensing data and the flyingobject ID from the UAV 1, the management server 3 extracts a target areasensed by the UGV 2 on the basis of the long-distance sensing data (stepS6). For example, the UGV 2 is identified based on the traveling objectID associated with the flying object ID acquired from the managementserver 3 together with the long-distance sensing data. Next, themanagement server 3 transmits movement control information including amovement command for moving the UGV 2 to the target area extracted instep S6 to the UGV 2 via the communication network NW (step S7). Suchmovement control information includes position information of theextracted target area.

Next, upon acquiring the movement control information from themanagement server 3, the UGV 2 starts moving toward the target area(step S8). Next, when arriving near or in the target area (step S9), theUGV 2 activates the sensor unit 23 to start short-distance sensing, andacquires short-distance sensing data obtained by performingshort-distance sensing on a whole or a part of the target area (stepS10). Next, the UGV 2 transmits the short-distance sensing data acquiredin step S10 and the traveling object ID of the UGV 2 to the managementserver 3 via the communication network NW (step S11).

Next, upon acquiring the short-distance sensing data and the travelingobject ID from the UGV 2, the management server 3 determines whether ornot an abnormality has occurred in the target area extracted in step S6on the basis of the short-distance sensing data (step S12). When it isdetermined that no abnormality has occurred in the target area (stepS12: NO), the process ends.

On the other hand, when it is determined that an abnormality hasoccurred in the target area (step S12: YES), an e-mail describing auniform resource locator (URL) for accessing the information regardingthe target area extracted in step S6 (for example, a map image in thetarget area) is sent to the e-mail address of a manager involved in thesensing area (step S13). The e-mail thus sent is received and displayedby a manager terminal of the manager. Then, by specifying the URLdescribed in the email, the information regarding the target area isdisplayed by the manager terminal.

Example 2

Next, the operation of the sensing system S according to Example 2 willbe described with reference to FIG. 10 . Example 2 is an example of acase where the UGV 2 moves toward the target area on the basis of theresult of matching between the long-distance sensing data and groundsensing data performed by the management server 3. FIG. 10 is a sequencediagram illustrating an example of processing executed among the UAV 1,the UGV 2, and the management server 3 in Example 2. Incidentally, theprocesses of steps S21 to S26 illustrated in FIG. 10 are similar to theprocesses of steps S1 to S6 illustrated in FIG. 9 . In step S27, themanagement server 3 determines a point where the UGV 2 enters within therange of the long-distance sensing performed by the UAV 1 (for example,the photographing range of the camera of the UAV 1) on the basis of theposition information of the UAV 1 and the position information of theUGV 2. Next, the management server 3 transmits movement controlinformation including a movement command for moving the UGV 2 to thepoint determined in step S27 to the UGV 2 via the communication networkNW (step S28). Such movement control information includes positioninformation of the determined point.

Next, upon acquiring the movement control information from themanagement server 3, the UGV 2 starts moving toward the point (stepS29). Next, when arriving at the point indicated by the movement controlinformation (step S30), the UGV 2 activates the sensor unit 23 to startground sensing, and acquires ground sensing data obtained by performingground sensing (step S31). Next, the UGV 2 transmits the ground sensingdata acquired in step S31 and the traveling object ID of the UGV 2 tothe management server 3 via the communication network NW (step S32).

Next, upon acquiring the ground sensing data and the traveling objectID, the management server 3 matches the long-distance sensing data withthe ground sensing data, and detects the target area extracted in stepS26 from the ground sensing data (step S33). Next, the management server3 transmits movement control information including a movement commandfor moving the UGV 2 to the target area detected in step S33 to the UGV2 via the communication network NW (step S34). Incidentally, theprocesses of steps S35 to S40 illustrated in FIG. 10 are similar to theprocesses of steps S8 to S13 illustrated in FIG. 9 .

Example 3

Next, the operation of the sensing system S according to Example 3 willbe described with reference to FIG. 11 . Example 3 is an example of acase where the UGV 2 moves toward the target area on the basis of theresult of matching between the long-distance sensing data and groundsensing data performed by the UGV 2. FIG. 11 is a sequence diagramillustrating an example of processing executed among the UAV 1, the UGV2, and the management server 3 in Example 3. Incidentally, the processesof steps S51 to S57 illustrated in FIG. 11 are similar to the processesof steps S21 to S27 illustrated in FIG. 10 . In step S58, the managementserver 3 transmits the long-distance sensing data indicating the targetarea extracted in step S56 and the movement control informationincluding the movement command for moving the UGV 2 to the target areathrough the point determined in step S57 to the UGV 2 via thecommunication network NW. Such movement control information includesposition information of the determined point.

Next, upon acquiring the long-distance sensing data and the movementcontrol information from the management server 3, the UGV 2 startsmoving toward the point (step S59). Next, when arriving at the pointindicated by the movement control information (step S60), the UGV 2activates the sensor unit 23 to start ground sensing, and acquiresground sensing data obtained by performing ground sensing (step S61).Next, the UGV 2 matches the long-distance sensing data acquired from themanagement server 3 with the ground sensing data acquired in step S61,and detects the target area indicated by the long-distance sensing datafrom the ground sensing data (step S62). Next, while performing groundsensing, the UGV 2 starts moving toward the target area detected fromthe ground sensing data (step S63). Incidentally, the processes of stepsS64 to S68 illustrated in FIG. 11 are similar to the processes of stepsS36 to S40 illustrated in FIG. 10 .

Example 4

Next, the operation of the sensing system S according to Example 4 willbe described with reference to FIG. 12 . Example 4 is an example of acase where the UGV 2 moves toward the target area on the basis of thepositional relationship between the target area and the UGV 2 specifiedby the management server 3. FIG. 12 is a sequence diagram illustratingan example of processing executed among the UAV 1, the UGV 2, and themanagement server 3 in Example 4. Incidentally, the processes of stepsS71 to S76 illustrated in FIG. 12 are similar to the processes of stepsS1 to S6 illustrated in FIG. 9 . In step S77, the management server 3transmits flight control information including a flight command forflying the UAV 1 to the target area extracted in step S76 to the UAV 1via the communication network NW.

Next, upon acquiring the flight control information from the managementserver 3, the UAV 1 starts flying toward the target area (step S78).Next, when the UAV 1 arrives over the target area (step S79), the UAV 1interrupts its movement over the target area and then shifts to ahovering state (step S80). Next, the UAV 1 transmits the long-distancesensing data acquired by performing long-distance sensing and the flyingobject ID to the management server 3 via the communication network NW(step S81). The long-distance sensing data is continuously andrepeatedly transmitted to the management server 3.

Next, upon acquiring the long-distance sensing data and the flyingobject ID from the UAV 1, the management server 3 determines a pointwhere the UGV 2 enters within the range of the long-distance sensingperformed by the UAV 1 (for example, the photographing range of thecamera of the UAV 1) on the basis of the position information of the UAV1 in the hovering state and the position information of the UGV 2 (stepS82). Next, the management server 3 transmits movement controlinformation including a movement command for moving the UGV 2 to thepoint determined in step S82 to the UGV 2 via the communication networkNW (step S83).

Next, upon acquiring the movement control information from themanagement server 3, the UGV 2 starts moving toward the point (stepS84). While the UGV 2 is moving toward the point, the long-distancesensing data from the UAV 1 is continuously and repeatedly received bythe management server 3.

Next, when the UGV 2 enters the range of the long-distance sensingperformed by the UAV 1 whereby the management server 3 detects the UGV 2from the long-distance sensing data continuously received from the UAV1, the management server 3 specifies (acquires) a positionalrelationship between the UGV 2 and the target area on the basis of thelong-distance sensing data (step S85). Such positional relationshipindicates, for example, a direction of the target area with reference tothe UGV 2 and a distance between the UGV 2 and the target area. Next,the management server 3 transmits movement control information includinga movement command for moving the UGV 2 to the target area extracted instep S76 to the UGV 2 via the communication network NW (step S86). Suchmovement control information includes information indicating theabove-described positional relationship that changes from moment tomoment, and may be continuously and repeatedly transmitted to the UGV 2until the UGV 2 arrives at the target area.

Next, upon acquiring the movement control information from themanagement server 3, the UGV 2 starts moving toward the target area onthe basis of the positional relationship between the UGV 2 and thetarget area (step S87). That is, the UGV 2 moves in the directionindicated by the positional relationship by the distance indicated bythe positional relationship. Incidentally, the UGV 2 may move toward thetarget area according to the above-described positional relationshipthat changes from moment to moment in the movement control informationrepeatedly received from the management server 3 before arriving at thetarget area. Incidentally, the processes of steps S88 to S92 illustratedin FIG. 12 are similar to the processes of steps S9 to S13 illustratedin FIG. 9 .

Example 5

Next, the operation of the sensing system S according to Example 5 willbe described with reference to FIG. 13 . Example 5 is an example of acase where the UGV 2 moves toward the target area on the basis of thepositional relationship between the target area and the UGV 2 specifiedby the UAV 1. FIG. 13 is a sequence diagram illustrating an example ofprocessing executed among the UAV 1, the UGV 2, and the managementserver 3 in Example 5. Incidentally, the processes of steps S101 to S114illustrated in FIG. 13 are similar to the processes of steps S71 to S84illustrated in FIG. 12 .

When the UGV 2 enters the range of long-distance sensing whereby the UAV1 detects the UGV 2 from the long-distance sensing data, the UAV 1specifies the positional relationship between the UGV 2 and the targetarea on the basis of the long-distance sensing data (step S115). Next,the UAV 1 transmits movement control information including a movementcommand for moving the UGV 2 to the target area indicated by the flightcontrol information acquired in step S107 to the UGV 2 by theshort-distance radio communication function (step S116). Such movementcontrol information includes information indicating the above-describedpositional relationship that changes from moment to moment, and may becontinuously and repeatedly transmitted to the UGV 2 until the UGV 2arrives at the target area.

Next, upon acquiring the movement control information from the UAV 1,the UGV 2 starts moving toward the target area on the basis of thepositional relationship between the UGV 2 and the target area (stepS117) . Incidentally, the UGV 2 may move toward the target areaaccording to the above-described positional relationship that changesfrom moment to moment in the movement control information repeatedlyreceived from the UAV 1 before arriving at the target area.Incidentally, the processes of steps S118 to S122 illustrated in FIG. 13are similar to the processes of steps S88 to S92 illustrated in FIG. 12.

As described above, according to the above embodiment, the sensingsystem S is configured to extract the target area to be subjected toshort-distance sensing by the UGV 2 on the basis of the long-distancesensing data obtained by the UAV 1 in the air performing long-distancesensing downward, perform movement control for moving the UGV 2 towardthe target area, and acquire short-distance sensing data obtained byperforming short-distance sensing on the whole or a part of the targetarea by the UGV 2 that has moved according to the movement control.Therefore, in order to quickly find and investigate the target area, itis possible to acquire suitable sensing data in consideration ofadvantages of both comprehensive long-distance sensing and fineshort-distance sensing.

Namely, according to the present embodiment, it is possible to quicklyfind, for example, a target area having a high probability that anabnormality has occurred below the UAV 1 by the comprehensivelong-distance sensing by the UAV 1, and thereafter, it is possible toinvestigate the target area in detail by the fine short-distance sensingby the UGV 2. Therefore, since the UAV 1 does not need to sense a lowerplace while flying at a low altitude, it is possible to prevent the UAV1 from becoming unstable due to the ground effect. Moreover, since theUAV 1 does not need to sense the surroundings in a state where the UAV 1has landed, it is possible to prevent the UAV 1 from becoming unstableand to suppress the consumption of energy (battery or fuel) for take-offand landing of the UAV 1. Furthermore, since the UAV 1 does not need toperform sensing from the sky using a high-magnification sensor, it ispossible to avoid an adverse effect given to the sensing by vibration orthe like of the UAV 1. Furthermore, according to the present embodiment,it is possible to quickly and accurately determine whether anabnormality has occurred in the target area using sensing data inconsideration of advantages of both comprehensive sensing and finesensing.

Incidentally, the above-described embodiment is one embodiment of thepresent invention, and the present invention is not limited to theabove-described embodiment, changes from the above-described embodimentcan be made on various configurations and the like within a scope notdeparting from the gist of the present invention, and such cases shallbe also included in the technical scope of the present invention. In theabove embodiment, management of lawn in a golf course and management ofcrops and the like in a farm field are assumed, but the presentinvention can be suitably applied to find a place where an abnormalityoccurs from a wide range in addition to these management. For example,the present invention is also applicable to road management and thelike. In this case, for example, an area having a high probability thata crack has occurred on a road or an area having a high probability thatan inclination or unevenness equal to or greater than a threshold valuehas occurred on a road is extracted as the target area. Moreover, in theabove embodiment, a manned aerial vehicle has been described as anexample of the flying object, but the flying object is also applicableto a manned aerial vehicle that can fly even if there is no pilot in theaerial vehicle.

Moreover, in the above embodiment, an example has been described inwhich the sensing data acquisition unit 33 a, the target area extractionunit 33 b, the vehicle body control unit 33 c, the abnormalitydetermination unit 33 d, and the information providing unit 33 e areprovided in the control unit 33 of the management server 3. However, allor some of these components may be provided in the control unit 15 ofthe UAV 1 or the control unit 25 of the UGV 2. For example, byextracting a target area to be subjected to short-distance sensing onthe basis of the long-distance sensing data and transmitting theabove-described movement control information to the UGV 2 by theshort-distance wireless communication function, the control unit 15 ofthe UAV 1 may perform movement control for moving the UGV 2 toward thetarget area. Moreover, the control unit 15 of the UAV 1 may acquireshort-distance sensing data from the UGV 2 or the management server 3and determine whether or not an abnormality has occurred in the targetarea on the basis of the short-distance sensing data. Moreover, thecontrol unit 15 of the UAV 1 may transmit the short-distance sensingdata to the manager terminal, or may display information regarding thetarget area on the basis of the short-distance sensing data on thedisplay terminal. Alternatively, by acquiring long-distance sensing datafrom the UAV 1 or the management server 3, and extracting a target areato be subjected to short-distance sensing on the basis of thelong-distance sensing data, the control unit 25 of the UGV 2 may performmovement control for moving the UGV 2 toward the target area. Moreover,the control unit 25 of the UGV 2 may determine whether or not anabnormality has occurred in the target area on the basis of theshort-distance sensing data. Moreover, the control unit 25 of the UGV 2may transmit the short-distance sensing data to the manager terminal, ormay display information regarding the target area on the basis of theshort-distance sensing data on the display terminal.

Reference Signs List

-   1 UAV-   2 UGV-   3 Management server-   11, 21 Drive unit-   12, 22 Radio communication unit-   13, 23 Sensor unit-   14, 24 Positioning unit-   15, 25 Control unit-   31 Communication unit-   32 Storage unit-   33 Control unit-   15 a, 25 a Sensing control unit-   15 b, 25 b Sensing data acquisition unit-   15 c Flight control unit-   25 c Movement control unit-   33 a Sensing data acquisition unit-   33 b Target area extraction unit-   33 c Vehicle body control unit-   33 d Abnormality determination unit-   33 e Information providing unit-   S Sensing system

1. A sensing system comprising: at least one memory configured to storeprogram code; and at least one processor configured to access theprogram code and operate as instructed by the program code the programcode including: first acquisition code configured to cause the at leastone processor to acquire first sensing data obtained by a flying objectin the air sensing a lower place; extraction code configured to causethe at least one processor to extract a target area sensed by atraveling object capable of traveling on the ground on the basis of thefirst sensing data; control code configured to cause the at least oneprocessor to perform movement control for moving the traveling objecttoward the target area; and second acquisition code configured to causethe at least one processor to acquire second sensing data obtained bysensing a whole or a part of the target area by the traveling objectthat has moved according to the movement control.
 2. The sensing systemaccording to claim 1, the program code further including display controlcode configured to cause the at least oneprocessor to cause a displayterminal to display information regarding the target area on the basisof the second sensing data.
 3. The sensing system according to claim 1,wherein the extraction code causes the at least one processor toextract, as the target area, an area having a high probability that anabnormality has occurred in the lower place, on the basis of the firstsensing data.
 4. The sensing system according to claim 1, wherein thefirst sensing data includes a vegetation activity image, and theextraction code causes the at least one processor to extract the targetarea on the basis of an activity in the vegetation activity image. 5.The sensing system according to claim 1, wherein the second sensing dataincludes data related to at least one of moisture content, temperature,salinity concentration, electrical conductivity, and acidity in theground of the target area.
 6. The sensing system according to claim 1,wherein the second sensing data is acquired using a sensor inserted inthe ground of the target area.
 7. The sensing system according to claim1, the program code further including determination code configured tocause the at least one processor to determine whether or not anabnormality has occurred in the target area on the basis of the secondsensing data.
 8. The sensing system according to claim 3, wherein theabnormality is an abnormality of any one of a plant, soil, and a road.9. The sensing system according to claim 8, the program code furtherincluding transmission code configured to cause the at least oneprocessor to transmit the second sensing data to a terminal owned by amanager of any one of the plant, the soil, and the road.
 10. The sensingsystem according to claim 1, wherein the control code causes the atleast one processor to cause the traveling object to continuouslyperform sensing of the target area a plurality of times while moving thetraveling object so that data on the entire target area is included inthe second sensing data.
 11. The sensing system according to claim 1,the program code further including third acquisition code configured tocause the at least one processor to acquire third sensing data obtainedby sensing the ground by the traveling object before the travelingobject is moved toward the target area, wherein the control code causesthe at least one processor to perform movement control for moving thetraveling object toward the target area on the basis of the firstsensing data and the third sensing data.
 12. The sensing systemaccording to claim 11, wherein the control code causes the at least oneprocessor to perform movement control for moving the traveling objecttoward the target area detected from the third sensing data by matchingthe first sensing data with the third sensing data.
 13. The sensingsystem according to claim 1, wherein when the target area is extracted ,the control code causes the at least one processor to move the travelingobject into a range of the sensing performed by the flying object in ahovering state, and thereafter, performs movement control for moving thetraveling object toward the target area on the basis of the firstsensing data.
 14. The sensing system according to claim 13, wherein theflying object performs the sensing while moving along a predeterminedflight route, and when the target area is extracted, the control codecauses the at least one processor to cause the flying object tointerrupt the movement along the route and then shift to the hoveringstate.
 15. The sensing system according to claim 1, wherein a distancebetween the target area and the flying object is longer than a distancebetween the target area and the traveling object.
 16. The sensing systemaccording to claim 1, wherein a range of the sensing performed by theflying object is larger than a range of the sensing performed by thetraveling object.
 17. A sensing data acquisition method including:acquiring first sensing data obtained by a flying object in the airsensing a lower place; extracting a target area sensed by a travelingobject capable of traveling on the ground on the basis of the firstsensing data; performing movement control for moving the travelingobject toward the target area; and acquiring second sensing dataobtained by sensing a whole or a part of the target area by thetraveling object that has moved according to the movement control.
 18. Acontrol device comprising: at least one memory configured to storeprogram code; and at least one processor configured to access theprogram code and operate as instructed by the program code, the programcode including: first acquisition code configured to cause the at leastone processor acquire first sensing data obtained by a flying object inthe air sensing a lower place; extraction code configured to cause theat least one processor to extract a target area sensed by a travelingobject capable of traveling on the ground on the basis of the firstsensing data; control code configured to cause the at least oneprocessor to perform movement control for moving the traveling objecttoward the target area; and second acquisition code configured to causethe at least one processor to acquire second sensing data obtained bysensing a whole or a part of the target area by the traveling objectthat has moved according to the movement control.